Resolve conflitcs and update pv (#10)

* Kill deprecated things (PhotonVision#1311) * Change sim to use 36h11 tags when doing multitag (PhotonVision#1314) * Undistort corner pitch/yaw using opencv (PhotonVision#1250) * Undistort pitch/yaw * Actually implement lol * Update TargetCalculations.java * fix yawpitch test units * format --------- Co-authored-by: amquake <[email protected]> * Bump libcamera to fix picam v1, remove duplicate opencv (PhotonVision#1263) * Charuco Support (PhotonVision#1312) Add charuco calibration to photonvision. Currently does not support generating custom charuco boards. This does not support https://calib.io/pages/camera-calibration-pattern-generator. Currently only supports the 4X4_50 family. Also removes all dotboard calibration. Fixes using the lowest possible fps while doing calibration (now uses the highest fps available for each resolution). * Add sequence ID, capture, publish and recieve timestamp to PhotonPipelineResult (PhotonVision#1305) Closes PhotonVision#1304 * Expose object detection class id/conf in photonlib (PhotonVision#1266) * Implement class id/conf in photonlib * Maybe fix things * run lint * Update Packet.java comments * Update Packet.java comments again * Update comments * oops * Update packet.py --------- Co-authored-by: Chris Gerth <[email protected]> * Allow file uploads of any size and better report active cameras in PhotonCamera error print (PhotonVision#1298) Previously reported itself which was confusing. New print: ``` Error at org.photonvision.PhotonCamera.verifyVersion(PhotonCamera.java:378): Found the following PhotonVision cameras active on NetworkTables: ==> HD_Pro_Webcam_C920 ==> Arducam_OV9281_USB_Camera ``` * Disable Arm32 Builds (PhotonVision#1325) Disables Arm32 builds and removes mention of the build option in the README. * [PhotonLib C++] Fix SetVersionCheckEnabled to actually disable version checking (PhotonVision#1323) * change verifyversion to use member variable * Revert "change verifyversion to use member variable" This reverts commit 4439839. * Removed inline specifier for versioncheck variable --------- Co-authored-by: Drew Williams <[email protected]> * Update README.md (PhotonVision#1321) * Move PhotonVersion to C++ file (PhotonVision#949) This was supposed to speed up incremental compilation, but not sure it actually does. It's better form tm tho and fixes a robotpy-wrapper weirdness * Bump wpilib to latest dev (PhotonVision#1327) * Publish generated proto sources (PhotonVision#1328) * Disable transitive deps for rknn-jni (PhotonVision#1329) * Update maven URL to reposilite (PhotonVision#1330) Also bumps to new builds of artifacts (NFC) * Allow opencv8 distortion model in PhotonCamera (PhotonVision#1317) We previously assumed only OpenCV5 but mrcal uses opencv8 * Fix mac released jar naming (PhotonVision#1332) * Change default AprilTag family to 36h11 (PhotonVision#1333) Change default AprilTag family to 36h11 Resolves PhotonVision#1226 * Warn when getBestCameraToTarget returns 0, 0, 0 (PhotonVision#1334) Resolves PhotonVision#915 * Fix libcamera not found bug (PhotonVision#1326) * Update build.yml * Camera Lost Stream (PhotonVision#1341) * Fix no stream on camera unplug. * Spotless remove datarate * Make Static Frames Class * lint and format * Add photon.pb.h/PhotonVersion to cpp headers zip & create combined sources zip (PhotonVision#1335) Combined sources zip is useful for robotpy to build both targeting & lib in the same build * Create combine job and offline vendordep ZIP (PhotonVision#1343) * Create combine job * Update build.yml * Bump max workers in photonlib * Oops * actually kill entirely * Maybe fix test * Don't run tests * Update OpenCVTest.java * Update build.yml * Use upload-artifact@v4 * Update build.yml * Update build.yml * Only download necessary files in release step (PhotonVision#1344) * Only publish to maven on main fork (PhotonVision#1345) * Bump libcamera driver version (PhotonVision#1346) * Update build.gradle * Revert "Warn when getBestCameraToTarget returns 0, 0, 0 (PhotonVision#1334)" (PhotonVision#1351) This reverts commit 6ff7b3e. See PhotonVision#1351 for context * fix CSI camera null quirks error (PhotonVision#1349) temp fix for this issue with csi cameras * Support more charuco boards (PhotonVision#1348) Add support for the old opencv charuco board like calibio. Add support for other tag families while calibrating. Fix calibration issue index out of range with charuco missing points. * Bump wpilib to 2025.0.0-alpha-1 and break non-FRC JDKs (PhotonVision#1356) Windows users will have to add `"-Dorg.gradle.java.home=C:\Users\Public\wpilib\2024\jdk"` to gradle invocations, ie `./gradlew run "-Dorg.gradle.java.home=C:\Users\Public\wpilib\2024\jdk"`, due to MSVC ABI breakages and other stupidity * Move docs in-source (PhotonVision#1357) * Rename .readthedocs to match RTD * Adds support for OV9782's quirks (PhotonVision#1284) The OV9782 camera has a specific exposure range, so a camera quirk for it needs to exist. The default white balance is also pretty bad, so it must be adjusted. Closes PhotonVision#1204 --------- Co-authored-by: Matt <[email protected]> Co-authored-by: Cameron (3539) <[email protected]> * Fix OV9782 typos (PhotonVision#1358) There were a couple of typos in the last OV9782 fix, this addresses those. Additionally, remove Matt's comment that he forgot. * Update docs on docs about docs (PhotonVision#1360) * Use pnpm instead of npm (PhotonVision#1375) Pnpm is like npm except instead of keeping multiple copies of dependencies, it shares a single copy for multiple dependencies significantly reducing build time and the space needed to hold all the dependencies. Read [here](https://pnpm.io/motivation) for more info. This changes our CI to use pnpm and allows developers to choose to use pnpm instead of npm. Also, pnpm has a built-in node version manager so devs no longer need to use nvm to work on photonvision. All npm functionality (including photon-server gradle tasks) still functions using npm so this isn't breaking. We should make a docs change to suggest to use pnpm. * Fixed spelling error (PhotonVision#1376) * Revert "Use pnpm instead of npm" (PhotonVision#1382) Reverts PhotonVision#1375 Causes white screen UI Bug, "the way we currently strap everything with vue2 and vuetify has a lot of footguns in it, and using a newer package manager where each subdependency gets its own version of node is causing incorrect dependency resolution which also means we can't fix this without either updating node or patching those dependencies id say just revert the PR for now until I or someone else can do the vue3 update" * Run wpiformat (PhotonVision#1379) * Use new OrangePi5 images and add OrangePi5 Pro (PhotonVision#1388) * Use ReadQueue for PhotonCamera timestamps (PhotonVision#1316) This removes the extra GetLastChange call to keep everything properly atomic. Closes PhotonVision#1303 * Add API docs to sidebar (PhotonVision#1383) * Add rsync & sphinx-autobuild docs (PhotonVision#1391) * Update install.sh for OPi5 Ubuntu 24.04 (PhotonVision#1390) This updates the install script to work correctly on Ubuntu 24.04 versions of the Orange Pi 5 images. Changes include: - installing libatomic1 - disabling networkd-wait-online if using Network Manager - using systemctl instead of service to detect if photonvision is running - detecting if this is a RK3588 cpu and enabling all cores * Move to using Absolute Exposure Range (PhotonVision#1352) Uses logic in PhotonVision/photon-libcamera-gl-driver#16 to push the ov9281 down to its true minimum exposure. Updates UI to list the exposure settings in ~~microseconds.~~ Native units - not everyone works in microseconds. Does its darndest to actually try to set the exposure in ~~microseconds.~~ Native Units. To do this... Lifecam is funky when doing this - [cscore limits the exposure settings to certain quantized values](https://github.com/wpilibsuite/allwpilib/blob/main/cscore/src/main/native/linux/UsbCameraImpl.cpp#L129). Add a new camera quirk to allow that. ~~Updated camera quirks to re-evaluate every camera load (rather than recalling from settings - this shouldn't be necessary)~~ This should be rolled back, needed for arducam type selection. Updated camera quirk matching logic to make PID/VID optional, and basename optional (and only match trailing characters). This enables mirroring CSCore's logic for identifying lifecams by name. Updated the USBCamera to primarily use cscore's exposed property names. Since camera manufacturers use a potpourri of names for the same thing.... For nice-to-have settings: new soft-set logic to try all possible names, but gracefully pass if the property isn't there. For required settings: Search a list for the first setting that's supported, fail if none are supported. More logging of camera properties to help debug. Note: most of this work is because cscore doesn't directly expose a massaged exposure-setting-absolute API (and, given what we've seen, probably _shouldn't_, this struggle is not for the faint of heart). --------- Co-authored-by: Matt <[email protected]> * Add OrangePi5b image to generated images (PhotonVision#1394) * Document how to install PhotonLib of specific version (PhotonVision#1392) * Fixed PipelineManager logic * spotless * Error fixes * cameraExposure -> cameraExposureRaw * Trying reverting some changes * Revert "Trying reverting some changes" This reverts commit f3faf80. --------- Co-authored-by: Matt <[email protected]> Co-authored-by: Drew Williams <[email protected]> Co-authored-by: amquake <[email protected]> Co-authored-by: Programmers3539 <[email protected]> Co-authored-by: Chris Gerth <[email protected]> Co-authored-by: Craftzman7 <[email protected]> Co-authored-by: Drew Williams <[email protected]> Co-authored-by: Jade <[email protected]> Co-authored-by: Cameron (3539) <[email protected]> Co-authored-by: Gautam <[email protected]> Co-authored-by: Sriman Achanta <[email protected]> Co-authored-by: MADMAN-Modding <[email protected]> Co-authored-by: Craig Schardt <[email protected]> Co-authored-by: vic123 <[email protected]>
laviRZ · Aug 19, 2024 · 6ce47bf · 6ce47bf
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -1,12 +1,21 @@
 name: Build
 
 on:
+  # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
   push:
     branches: [ master ]
     tags:
       - 'v*'
+    paths:
+      - '**'
+      - '!docs/**'
+      - '.github/**'
   pull_request:
     branches: [ master ]
+    paths:
+      - '**'
+      - '!docs/**'
+      - '.github/**'
 
 jobs:
   build-client:
@@ -55,13 +64,13 @@ jobs:
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
+          ./gradlew build -x check
       - name: Build C++ examples
         working-directory: photonlib-cpp-examples
         run: |
           chmod +x gradlew
           ./gradlew copyPhotonlib -x check
-          ./gradlew build -x check --max-workers 2
+          ./gradlew build -x check
   build-gradle:
     name: "Gradle Build"
     runs-on: ubuntu-22.04
@@ -83,11 +92,11 @@ jobs:
       - name: Gradle Build
         run: |
           chmod +x gradlew
-          ./gradlew build -x check --max-workers 2
+          ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests
-        run: ./gradlew testHeadless -i --max-workers 1 --stacktrace
+        run: ./gradlew testHeadless -i --stacktrace
       - name: Gradle Coverage
-        run: ./gradlew jacocoTestReport --max-workers 1
+        run: ./gradlew jacocoTestReport
       - name: Publish Coverage Report
         uses: codecov/codecov-action@v3
         with:
@@ -101,37 +110,36 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-        with:
-          repository: 'PhotonVision/photonvision-docs.git'
-          ref: master
       - uses: actions/setup-python@v5
         with:
-          python-version: '3.9'
+          python-version: '3.11'
       - name: Install dependencies
+        working-directory: docs
         run: |
           python -m pip install --upgrade pip
           pip install sphinx sphinx_rtd_theme sphinx-tabs sphinxext-opengraph doc8
           pip install -r requirements.txt
       - name: Build the docs
+        working-directory: docs
         run: |
           make html
-      - uses: actions/upload-artifact@master
+      - uses: actions/upload-artifact@v4
         with:
           name: built-docs
-          path: build/html
+          path: docs/build/html
   build-photonlib-host:
     env:
-      MACOSX_DEPLOYMENT_TARGET: 12
+      MACOSX_DEPLOYMENT_TARGET: 13
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: windows-2022
             artifact-name: Win64
             architecture: x64
-          - os: macos-12
+          - os: macos-14
             artifact-name: macOS
-            architecture: x64
+            architecture: aarch64
           - os: ubuntu-22.04
             artifact-name: Linux
 
@@ -146,26 +154,37 @@ jobs:
         with:
           java-version: 17
           distribution: temurin
+          architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
       - run: |
           chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      # - run: ./gradlew photon-lib:publish photon-targeting:publish
-      #   name: Publish
-      #   env:
-      #     ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-      #   if: github.event_name == 'push'
+          ./gradlew photon-targeting:build photon-lib:build -Pbuildalldesktop -i
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -Pbuildalldesktop
+        name: Publish
+        env:
+          ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # Copy artifacts to build/outputs/maven
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts -Pbuildalldesktop
+      - uses: actions/upload-artifact@v4
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
   build-photonlib-docker:
     strategy:
       fail-fast: false
       matrix:
         include:
           - container: wpilib/roborio-cross-ubuntu:2024-22.04
             artifact-name: Athena
+            build-options: "-Ponlylinuxathena"
           - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04
             artifact-name: Raspbian
+            build-options: "-Ponlylinuxarm32"
           - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04
             artifact-name: Aarch64
+            build-options: "-Ponlylinuxarm64"
 
     runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
@@ -178,16 +197,49 @@ jobs:
         run: |
           git config --global --add safe.directory /__w/photonvision/photonvision
       - name: Build PhotonLib
+        # We don't need to run tests, since we specify only non-native platforms
         run: |
           chmod +x gradlew
-          ./gradlew photon-lib:build --max-workers 1
-      # - name: Publish
-      #   run: |
-      #     chmod +x gradlew
-      #     ./gradlew photon-lib:publish photon-targeting:publish
+          ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+      - name: Publish
+        run: |
+          chmod +x gradlew
+          ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:
           ARTIFACTORY_API_KEY: ${{ secrets.ARTIFACTORY_API_KEY }}
-        if: github.event_name == 'push'
+        if: github.event_name == 'push' && github.repository_owner == 'photonvision'
+      # Copy artifacts to build/outputs/maven
+      - run: ./gradlew photon-lib:publish photon-targeting:publish -PcopyOfflineArtifacts ${{ matrix.build-options }}
+      - uses: actions/upload-artifact@v4
+        with:
+          name: maven-${{ matrix.artifact-name }}
+          path: build/outputs
+
+  combine:
+    name: Combine
+    needs: [build-photonlib-docker, build-photonlib-host]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - run: git fetch --tags --force
+      # download all maven-* artifacts to outputs/
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          path: output
+          pattern: maven-*
+      - run: find .
+      - run: zip -r photonlib-$(git describe --tags --match=v*).zip .
+        name: ZIP stuff up
+        working-directory: output
+      - run: ls output
+      - uses: actions/upload-artifact@v4
+        with:
+          name: photonlib-offline
+          path: output/*.zip
+
   build-package:
     needs: [build-client, build-gradle, build-offline-docs]
 
@@ -198,23 +250,19 @@ jobs:
           - os: windows-latest
             artifact-name: Win64
             architecture: x64
-            arch-override: none
+            arch-override: winx64
           - os: macos-latest
             artifact-name: macOS
             architecture: x64
-            arch-override: none
-          - os: ubuntu-latest
-            artifact-name: Linux
-            architecture: x64
-            arch-override: none
+            arch-override: macx64
           - os: macos-latest
             artifact-name: macOSArm
             architecture: x64
             arch-override: macarm64
           - os: ubuntu-latest
-            artifact-name: LinuxArm32
+            artifact-name: Linux
             architecture: x64
-            arch-override: linuxarm32
+            arch-override: linuxx64
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             architecture: x64
@@ -232,6 +280,7 @@ jobs:
         with:
           java-version: 17
           distribution: temurin
+          architecture: ${{ matrix.architecture }}
       - run: |
           rm -rf photon-server/src/main/resources/web/*
           mkdir -p photon-server/src/main/resources/web/docs
@@ -250,11 +299,11 @@ jobs:
           path: photon-server/src/main/resources/web/docs
       - run: |
           chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2 -PArchOverride=${{ matrix.arch-override }}
+          ./gradlew photon-server:shadowJar -PArchOverride=${{ matrix.arch-override }}
         if: ${{ (matrix.arch-override != 'none') }}
       - run: |
           chmod +x gradlew
-          ./gradlew photon-server:shadowJar --max-workers 2
+          ./gradlew photon-server:shadowJar
         if: ${{ (matrix.arch-override == 'none') }}
       - uses: actions/upload-artifact@v4
         with:
@@ -310,7 +359,7 @@ jobs:
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
             extraOpts: -Djdk.lang.Process.launchMechanism=vfork
@@ -349,33 +398,45 @@ jobs:
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: RaspberryPi
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_raspi.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_raspi.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight2
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.4/photonvision_limelight.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_limelight.img.xz
             cpu: cortex-a7
-            image_additional_mb: 4096
+            image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: limelight3
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.5/photonvision_limelight3.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-1/photonvision_limelight3.img.xz
             cpu: cortex-a7
             image_additional_mb: 0
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5b
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5b.img.xz
             cpu: cortex-a8
-            image_additional_mb: 4096
+            image_additional_mb: 1024
           - os: ubuntu-latest
             artifact-name: LinuxArm64
             image_suffix: orangepi5plus
-            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2024.0.10/photonvision_opi5plus.img.xz
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5plus.img.xz
             cpu: cortex-a8
-            image_additional_mb: 4096
+            image_additional_mb: 1024
+          - os: ubuntu-latest
+            artifact-name: LinuxArm64
+            image_suffix: orangepi5pro
+            image_url: https://github.com/PhotonVision/photon-image-modifier/releases/download/v2025.0.0-beta-3/photonvision_opi5pro.img.xz
+            cpu: cortex-a8
+            image_additional_mb: 1024
 
     runs-on: ${{ matrix.os }}
     name: "Build image - ${{ matrix.image_url }}"
@@ -388,7 +449,7 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}
-      - uses: pguyot/arm-runner-action@v2
+      - uses: pguyot/arm-runner-action@HEAD
         name: Generate image
         id: generate_image
         with:
@@ -413,12 +474,25 @@ jobs:
           name: image-${{ matrix.image_suffix }}
           path: photonvision*.xz
   release:
-    needs: [build-package, build-image]
+    needs: [build-package, build-image, combine]
     runs-on: ubuntu-22.04
     steps:
-      # Download literally every single artifact. This also downloads client and docs,
-      # but the filtering below won't pick these up (I hope)
+      # Download all fat JARs
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: jar-*
+      # Download offline photonlib
+      - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: photonlib-offline
+      # Download all images
       - uses: actions/download-artifact@v4
+        with:
+          merge-multiple: true
+          pattern: image-*
+
       - run: find
       # Push to dev release
       - uses: pyTooling/Actions/releaser@r0
@@ -430,6 +504,7 @@ jobs:
             **/*.xz
             **/*.jar
             **/photonlib*.json
+            **/photonlib*.zip
         if: github.event_name == 'push'
       # Upload all jars and xz archives
       - uses: softprops/action-gh-release@v1
@@ -438,6 +513,7 @@ jobs:
             **/*.xz
             **/*.jar
             **/photonlib*.json
+            **/photonlib*.zip
         if: startsWith(github.ref, 'refs/tags/v')
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -1,12 +1,21 @@
 name: Lint and Format
 
 on:
+  # Run on pushes to master and pushed tags, and on pull requests against master, but ignore the docs folder
   push:
     branches: [ master ]
     tags:
       - 'v*'
+    paths:
+      - '**'
+      - '!docs/**'
+      - '.github/**'
   pull_request:
     branches: [ master ]
+    paths:
+      - '**'
+      - '!docs/**'
+      - '.github/**'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
@@ -26,9 +35,9 @@ jobs:
       - name: Set up Python 3.8
         uses: actions/setup-python@v4
         with:
-          python-version: 3.8
+          python-version: 3.11
       - name: Install wpiformat
-        run: pip3 install wpiformat
+        run: pip3 install wpiformat==2024.37
       - name: Run
         run: wpiformat
       - name: Check output